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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p><code>#include &lt;<a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>&gt;</code></p>
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Inheritance diagram for LineFollow:</div>
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<area shape="rect" id="node3" href="class_curve_left.html" title="The CurveLeft class will control the car during the 90° left curve." alt="" coords="5,80,80,107"/><area shape="rect" id="node5" href="class_line_center.html" title="The LineCenter class centers the car on the line." alt="" coords="105,80,188,107"/><area shape="rect" id="node7" href="class_move_back_to_line.html" title="The MoveBackToLine class will navigate car back to the line according to the stored information from ..." alt="" coords="213,80,333,107"/></map>
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Collaboration diagram for LineFollow:</div>
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<area shape="rect" id="node2" href="class_move.html" title="Move" alt="" coords="137,187,188,213"/><area shape="rect" id="node5" href="class_communication.html" title="Communication" alt="" coords="5,96,117,123"/><area shape="rect" id="node7" href="class_command.html" title="A Command object represents a command sent from the host software." alt="" coords="11,5,92,32"/><area shape="rect" id="node10" href="class_configuration.html" title="Configuration" alt="" coords="202,5,299,32"/></map>
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<p><a href="class_line_follow-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ace2e49549627ad0682ed71e0be714086"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#ace2e49549627ad0682ed71e0be714086">LineFollow</a> ()</td></tr>
<tr class="memitem:afac0ad1ff185b7e5f9b47428cb2e5e48"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#afac0ad1ff185b7e5f9b47428cb2e5e48">begin</a> ()</td></tr>
<tr class="memitem:a93ff35747f2ae3bb26998f07243afc3c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a93ff35747f2ae3bb26998f07243afc3c">doJob</a> ()</td></tr>
<tr class="memitem:a98fad8edd42d3096bb61f9e68293490c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a98fad8edd42d3096bb61f9e68293490c">startIt</a> (int initSpeedLeft, int initSpeedRight)</td></tr>
<tr class="memitem:a46aa4b76c945adf0119a5dbb83a47481"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a46aa4b76c945adf0119a5dbb83a47481">startIt</a> (int initSpeedLeft, int initSpeedRight, int reduceSpeedTime, byte reducedSpeedLeftMotor, byte reducedSpeedRightMotor)</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:accb339a7a953d66032b9329a2b3a1b4d"><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#accb339a7a953d66032b9329a2b3a1b4d">hasReachedCurve</a></td></tr>
<tr class="memdesc:accb339a7a953d66032b9329a2b3a1b4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Is set to true, if the left curve line is reached.  <a href="#accb339a7a953d66032b9329a2b3a1b4d"></a><br/></td></tr>
<tr class="memitem:a9f9086563dd7db17b36c660f3793eba6"><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a9f9086563dd7db17b36c660f3793eba6">frontLineSensorsEnabled</a></td></tr>
<tr class="memdesc:a9f9086563dd7db17b36c660f3793eba6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines if the line follow class shall check the front line sensors (default's true after every new start!)  <a href="#a9f9086563dd7db17b36c660f3793eba6"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a1e3bb3e01044c86e7ad87c632bac6634"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a1e3bb3e01044c86e7ad87c632bac6634">readFrontLineSensors</a> (int *resultArray)</td></tr>
<tr class="memitem:af85fe355ee0699cabc3c817d10aa8b9d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#af85fe355ee0699cabc3c817d10aa8b9d">readLineSensors</a> (int *resultArray)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a6f7f1f6ff879d0ce76823b03844bfc9a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a6f7f1f6ff879d0ce76823b03844bfc9a">_calibrationSensorWhiteMin</a></td></tr>
<tr class="memdesc:a6f7f1f6ff879d0ce76823b03844bfc9a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds the minimum value that was measured during the calibration for "white".  <a href="#a6f7f1f6ff879d0ce76823b03844bfc9a"></a><br/></td></tr>
<tr class="memitem:a7b4f3695a0133e9ba170199ddb1bdde6"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a7b4f3695a0133e9ba170199ddb1bdde6">_calibrationSensorWhiteMax</a></td></tr>
<tr class="memdesc:a7b4f3695a0133e9ba170199ddb1bdde6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds the maximum value that was measured during the calibration for "white".  <a href="#a7b4f3695a0133e9ba170199ddb1bdde6"></a><br/></td></tr>
<tr class="memitem:aeb722614b85d484aafe0714f9d319f3e"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#aeb722614b85d484aafe0714f9d319f3e">_calibrationSensorBlackMin</a></td></tr>
<tr class="memdesc:aeb722614b85d484aafe0714f9d319f3e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds the minimum value that was measured during the calibration for "black".  <a href="#aeb722614b85d484aafe0714f9d319f3e"></a><br/></td></tr>
<tr class="memitem:aaeea70b897deb0295401aa316189c2ba"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#aaeea70b897deb0295401aa316189c2ba">_calibrationSensorBlackMax</a></td></tr>
<tr class="memdesc:aaeea70b897deb0295401aa316189c2ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds the maximum value that was measured during the calibration for "black".  <a href="#aaeea70b897deb0295401aa316189c2ba"></a><br/></td></tr>
<tr class="memitem:a0ef29e6c86e00848490a0ea4ee973ab5"><td class="memItemLeft" align="right" valign="top">unsigned long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a0ef29e6c86e00848490a0ea4ee973ab5">_timeLineFollowStarted</a></td></tr>
<tr class="memdesc:a0ef29e6c86e00848490a0ea4ee973ab5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds the timestamp of when the line follow process started with <a class="el" href="class_line_follow.html#a98fad8edd42d3096bb61f9e68293490c">startIt()</a>;.  <a href="#a0ef29e6c86e00848490a0ea4ee973ab5"></a><br/></td></tr>
<tr class="memitem:ad32fe2529a251e97ff6ac6c33b70b157"><td class="memItemLeft" align="right" valign="top">byte&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#ad32fe2529a251e97ff6ac6c33b70b157">_reducedSpeedLeftMotor</a></td></tr>
<tr class="memdesc:ad32fe2529a251e97ff6ac6c33b70b157"><td class="mdescLeft">&#160;</td><td class="mdescRight">The reduced speed (0-255) of the left motor that can be assigned after _reduceSpeedTime has been reached.  <a href="#ad32fe2529a251e97ff6ac6c33b70b157"></a><br/></td></tr>
<tr class="memitem:ae83633ebfeb7e27ca75e6a1fc84b42f9"><td class="memItemLeft" align="right" valign="top">byte&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#ae83633ebfeb7e27ca75e6a1fc84b42f9">_reducedSpeedRightMotor</a></td></tr>
<tr class="memdesc:ae83633ebfeb7e27ca75e6a1fc84b42f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">The reduced speed (0-255) of the right motor that can be assigned after _reduceSpeedTime has been reached.  <a href="#ae83633ebfeb7e27ca75e6a1fc84b42f9"></a><br/></td></tr>
<tr class="memitem:a9c2f2bdeb9061e726893fca132d795f8"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a9c2f2bdeb9061e726893fca132d795f8">_reduceSpeedTime</a></td></tr>
<tr class="memitem:a8d69bcb80adfdb89a24299227809bf66"><td class="memItemLeft" align="right" valign="top">byte&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a8d69bcb80adfdb89a24299227809bf66">_currentSpeedLeftMotor</a></td></tr>
<tr class="memdesc:a8d69bcb80adfdb89a24299227809bf66"><td class="mdescLeft">&#160;</td><td class="mdescRight">The current base speed of the left motor. The regulation of the motor speed is done based on that value.  <a href="#a8d69bcb80adfdb89a24299227809bf66"></a><br/></td></tr>
<tr class="memitem:affc9250b97071106f0a570b97ab3e6a0"><td class="memItemLeft" align="right" valign="top">byte&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#affc9250b97071106f0a570b97ab3e6a0">_currentSpeedRightMotor</a></td></tr>
<tr class="memdesc:affc9250b97071106f0a570b97ab3e6a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">The current base speed of the right motor. The regulation of the motor speed is done based on that value.  <a href="#affc9250b97071106f0a570b97ab3e6a0"></a><br/></td></tr>
<tr class="memitem:a8c494126e578f00240532b866b051718"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_communication.html">Communication</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a8c494126e578f00240532b866b051718">_com</a></td></tr>
<tr class="memdesc:a8c494126e578f00240532b866b051718"><td class="mdescLeft">&#160;</td><td class="mdescRight">The reference to the serial communication class.  <a href="#a8c494126e578f00240532b866b051718"></a><br/></td></tr>
<tr class="memitem:ac6fe17d43571248ea2e74fade7ceb5bd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_move.html">Move</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#ac6fe17d43571248ea2e74fade7ceb5bd">_move</a></td></tr>
<tr class="memdesc:ac6fe17d43571248ea2e74fade7ceb5bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">The reference to the move class to control the motors.  <a href="#ac6fe17d43571248ea2e74fade7ceb5bd"></a><br/></td></tr>
<tr class="memitem:a0112816d723edd82daf2dabbf1ff074f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_configuration.html">Configuration</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f">_conf</a></td></tr>
<tr class="memdesc:a0112816d723edd82daf2dabbf1ff074f"><td class="mdescLeft">&#160;</td><td class="mdescRight">The reference to the configuration class.  <a href="#a0112816d723edd82daf2dabbf1ff074f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a9c31b9a1c2d0627dcbfdb2af0bf7778e"><td class="memItemLeft" align="right" valign="top">unsigned long&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a9c31b9a1c2d0627dcbfdb2af0bf7778e">_timeLastLineFollowCheck</a></td></tr>
<tr class="memdesc:a9c31b9a1c2d0627dcbfdb2af0bf7778e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds the timestamp of the time when the last line follow check was done.  <a href="#a9c31b9a1c2d0627dcbfdb2af0bf7778e"></a><br/></td></tr>
<tr class="memitem:a44ff5bd13460ce3d6737319c6d0023f0"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#a44ff5bd13460ce3d6737319c6d0023f0">_deltasensor</a></td></tr>
<tr class="memitem:ae28a165a4eaf1ab88fe0cab11e325ba7"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#ae28a165a4eaf1ab88fe0cab11e325ba7">_sensoralt</a></td></tr>
<tr class="memitem:aaef3837f6fd0ea4d69458dbe7a5ed54d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_line_follow.html#aaef3837f6fd0ea4d69458dbe7a5ed54d">_deltaPWM</a></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock">
<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00008">8</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
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          <td class="memname"><a class="el" href="class_line_follow.html#ace2e49549627ad0682ed71e0be714086">LineFollow::LineFollow</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Constructur for the class. </p>

<p>Definition at line <a class="el" href="_line_follow_8cpp_source.html#l00009">9</a> of file <a class="el" href="_line_follow_8cpp_source.html">LineFollow.cpp</a>.</p>

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<hr/><h2>Member Function Documentation</h2>
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          <td class="memname">void <a class="el" href="class_line_follow.html#afac0ad1ff185b7e5f9b47428cb2e5e48">LineFollow::begin</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Prepares the <a class="el" href="class_line_follow.html">LineFollow</a> object to work together with other classes. The preparations done in here can not be done from within the constructor because of dependencies such as Serial communication. <b>This method needs to be called before this class can be fully used.</b> </p>

<p>Reimplemented in <a class="el" href="class_curve_left.html#a0e6f8f5d7f869edfaf34cf3e74676a86">CurveLeft</a>, <a class="el" href="class_line_center.html#a13e69abdd08c2da81f189e69642d980d">LineCenter</a>, and <a class="el" href="class_move_back_to_line.html#ab5f8b99d6379511c6ed09b4f50432641">MoveBackToLine</a>.</p>

<p>Definition at line <a class="el" href="_line_follow_8cpp_source.html#l00019">19</a> of file <a class="el" href="_line_follow_8cpp_source.html">LineFollow.cpp</a>.</p>

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          <td class="memname">void <a class="el" href="class_line_follow.html#a93ff35747f2ae3bb26998f07243afc3c">LineFollow::doJob</a> </td>
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<p>Does the job for which this class was written.<br/>
 This method has to be called in regular intervals.<br/>
 The sensor data of the sensors is captured and based on the result the motor speed is adjusted.</p>
<p><b>Important: Call <a class="el" href="class_line_follow.html#a98fad8edd42d3096bb61f9e68293490c">startIt()</a> first!</b></p>
<p>What's done in detail: </p>
<ol>
<li>
Read the front sensors to check, if a 90° courve is needed. </li>
<li>
Check _reduceSpeedTime (if not 0) if it's already time to proceed with the reduced speed. </li>
<li>
Read the line sensor values to check if one line sensor has detected white ground (line follow algorithm). </li>
</ol>

<p>Reimplemented in <a class="el" href="class_curve_left.html#a34930d2641dbbd389c536999a560f158">CurveLeft</a>, <a class="el" href="class_line_center.html#aa466b77cad70e564633e106efde81d4f">LineCenter</a>, and <a class="el" href="class_move_back_to_line.html#a2481a81f7c90dee23d229911c8821e65">MoveBackToLine</a>.</p>

<p>Definition at line <a class="el" href="_line_follow_8cpp_source.html#l00089">89</a> of file <a class="el" href="_line_follow_8cpp_source.html">LineFollow.cpp</a>.</p>

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          <td class="memname">void <a class="el" href="class_line_follow.html#a1e3bb3e01044c86e7ad87c632bac6634">LineFollow::readFrontLineSensors</a> </td>
          <td>(</td>
          <td class="paramtype">int *&#160;</td>
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          <td><code> [protected]</code></td>
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<p>Reads the two front line sensors and returns their values. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">Pointer</td><td>to an int array where the two result values will be filled in. [0] front left sensor; [1] front right sensor </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_line_follow_8cpp_source.html#l00134">134</a> of file <a class="el" href="_line_follow_8cpp_source.html">LineFollow.cpp</a>.</p>

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          <td>(</td>
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          <td><code> [protected]</code></td>
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<p>Reads the line sensors (but not the front sensors) and returns their values. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">Pointer</td><td>to an int array where the two result values will be filled in. [0] left sensor; [1] right sensor </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_line_follow_8cpp_source.html#l00146">146</a> of file <a class="el" href="_line_follow_8cpp_source.html">LineFollow.cpp</a>.</p>

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          <td class="memname">void <a class="el" href="class_line_follow.html#a98fad8edd42d3096bb61f9e68293490c">LineFollow::startIt</a> </td>
          <td>(</td>
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          <td class="paramname"><em>initSpeedLeft</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>initSpeedRight</em>&#160;</td>
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<p>Starts the line following process with the given initial speed. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">initSpeedLeft</td><td>Initial speed for the left motor. </td></tr>
    <tr><td class="paramname">initSpeedRight</td><td>Initial speed for the right motor. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_line_follow_8cpp_source.html#l00044">44</a> of file <a class="el" href="_line_follow_8cpp_source.html">LineFollow.cpp</a>.</p>

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        <tr>
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          <td class="paramname"><em>initSpeedRight</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>reduceSpeedTime</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">byte&#160;</td>
          <td class="paramname"><em>reducedSpeedLeftMotor</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">initSpeedLeft</td><td>Initial speed for the left motor. </td></tr>
    <tr><td class="paramname">initSpeedRight</td><td>Initial speed for the right motor. </td></tr>
    <tr><td class="paramname">reduceSpeedTime</td><td>Time after which the line follow process shall proceed with the speed of reducedSpeedLeftMotor and reducedSpeedRightMotor. 0 to not use this function. </td></tr>
    <tr><td class="paramname">reducedSpeedLeftMotor</td><td>Base speed for the PD controller after reduceSpeedTime milliseconds. </td></tr>
    <tr><td class="paramname">reducedSpeedRightMotor</td><td>Base speed for the PD controller after reduceSpeedTime milliseconds. </td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="_line_follow_8cpp_source.html#l00056">56</a> of file <a class="el" href="_line_follow_8cpp_source.html">LineFollow.cpp</a>.</p>

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<hr/><h2>Member Data Documentation</h2>
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          <td class="memname">int <a class="el" href="class_line_follow.html#aaeea70b897deb0295401aa316189c2ba">LineFollow::_calibrationSensorBlackMax</a><code> [protected]</code></td>
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<p>Holds the maximum value that was measured during the calibration for "black". </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00024">24</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">int <a class="el" href="class_line_follow.html#aeb722614b85d484aafe0714f9d319f3e">LineFollow::_calibrationSensorBlackMin</a><code> [protected]</code></td>
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<p>Holds the minimum value that was measured during the calibration for "black". </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00023">23</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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<p>Holds the maximum value that was measured during the calibration for "white". </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00022">22</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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<p>Holds the minimum value that was measured during the calibration for "white". </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00021">21</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname"><a class="el" href="class_communication.html">Communication</a>* <a class="el" href="class_line_follow.html#a8c494126e578f00240532b866b051718">LineFollow::_com</a><code> [protected]</code></td>
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<p>The reference to the serial communication class. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00039">39</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname"><a class="el" href="class_configuration.html">Configuration</a>* <a class="el" href="class_line_follow.html#a0112816d723edd82daf2dabbf1ff074f">LineFollow::_conf</a><code> [protected]</code></td>
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<p>The reference to the configuration class. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00041">41</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">byte <a class="el" href="class_line_follow.html#a8d69bcb80adfdb89a24299227809bf66">LineFollow::_currentSpeedLeftMotor</a><code> [protected]</code></td>
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<p>The current base speed of the left motor. The regulation of the motor speed is done based on that value. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00036">36</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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<p>The current base speed of the right motor. The regulation of the motor speed is done based on that value. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00037">37</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">int <a class="el" href="class_line_follow.html#aaef3837f6fd0ea4d69458dbe7a5ed54d">LineFollow::_deltaPWM</a><code> [private]</code></td>
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<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000008">Todo:</a></b></dt><dd>write comment </dd></dl>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00050">50</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">int <a class="el" href="class_line_follow.html#a44ff5bd13460ce3d6737319c6d0023f0">LineFollow::_deltasensor</a><code> [private]</code></td>
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<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000006">Todo:</a></b></dt><dd>write comment </dd></dl>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00048">48</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname"><a class="el" href="class_move.html">Move</a>* <a class="el" href="class_line_follow.html#ac6fe17d43571248ea2e74fade7ceb5bd">LineFollow::_move</a><code> [protected]</code></td>
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<p>The reference to the move class to control the motors. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00040">40</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">byte <a class="el" href="class_line_follow.html#ad32fe2529a251e97ff6ac6c33b70b157">LineFollow::_reducedSpeedLeftMotor</a><code> [protected]</code></td>
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<p>The reduced speed (0-255) of the left motor that can be assigned after _reduceSpeedTime has been reached. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00028">28</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">byte <a class="el" href="class_line_follow.html#ae83633ebfeb7e27ca75e6a1fc84b42f9">LineFollow::_reducedSpeedRightMotor</a><code> [protected]</code></td>
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<p>The reduced speed (0-255) of the right motor that can be assigned after _reduceSpeedTime has been reached. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00029">29</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">int <a class="el" href="class_line_follow.html#a9c2f2bdeb9061e726893fca132d795f8">LineFollow::_reduceSpeedTime</a><code> [protected]</code></td>
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<p>Time after which the speed of the motors shall be reduced to _reducedSpeedLeftMotor respectively _reducedSpeedRightMotor. Set 0 to not use this. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00034">34</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">int <a class="el" href="class_line_follow.html#ae28a165a4eaf1ab88fe0cab11e325ba7">LineFollow::_sensoralt</a><code> [private]</code></td>
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<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000007">Todo:</a></b></dt><dd>write comment </dd></dl>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00049">49</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">unsigned long <a class="el" href="class_line_follow.html#a9c31b9a1c2d0627dcbfdb2af0bf7778e">LineFollow::_timeLastLineFollowCheck</a><code> [private]</code></td>
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<p>Holds the timestamp of the time when the last line follow check was done. </p>
<dl class="section see"><dt>See also:</dt><dd><a class="el" href="class_line_follow.html#a93ff35747f2ae3bb26998f07243afc3c">doJob()</a> </dd></dl>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00047">47</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">unsigned long <a class="el" href="class_line_follow.html#a0ef29e6c86e00848490a0ea4ee973ab5">LineFollow::_timeLineFollowStarted</a><code> [protected]</code></td>
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<p>Holds the timestamp of when the line follow process started with <a class="el" href="class_line_follow.html#a98fad8edd42d3096bb61f9e68293490c">startIt()</a>;. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00026">26</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">boolean <a class="el" href="class_line_follow.html#a9f9086563dd7db17b36c660f3793eba6">LineFollow::frontLineSensorsEnabled</a></td>
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<p>Defines if the line follow class shall check the front line sensors (default's true after every new start!) </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00016">16</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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          <td class="memname">boolean <a class="el" href="class_line_follow.html#accb339a7a953d66032b9329a2b3a1b4d">LineFollow::hasReachedCurve</a></td>
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<p>Is set to true, if the left curve line is reached. </p>

<p>Definition at line <a class="el" href="_line_follow_8h_source.html#l00015">15</a> of file <a class="el" href="_line_follow_8h_source.html">LineFollow.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>D:/Workspace/Arduino/prencar/<a class="el" href="_line_follow_8h_source.html">LineFollow.h</a></li>
<li>D:/Workspace/Arduino/prencar/<a class="el" href="_line_follow_8cpp_source.html">LineFollow.cpp</a></li>
</ul>
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